Lidar and alignment method of the lidar

Abstract

A LiDAR includes a substrate, an installing base, an emission lens barrel, a receiving lens barrel, and a scanner. The substrate includes an emitter arranged on a surface of the substrate emitting a detection beam and a receiver arranged on the same surface for receiving an echo beam. The installing base includes a first optical channel and a second optical channel, isolated from each other. The first and second optical channels are configured to penetrate through a first end and a second end of the installing base. The detection beam and echo beam pass through the first and second channels, respectively. The first end is configured to fixedly connect to the substrate. The emission lens barrel is connected to the second end. The receiving lens barrel is connected to the second end. The scanner is configured to adjust directions of the detection beam and the echo beam.

1 - 13 . (canceled) 
     
     
         14 . A LiDAR comprising:
 a substrate comprising an emitter and a receiver, wherein the emitter, arranged on a surface of the substrate, is configured to emit a detection beam, and the receiver, arranged on the surface of the substrate, is configured to receive an echo beam reflected by an object;   an installing base comprising a first optical channel and a second optical channel, wherein the first optical channel is isolated from the second optical channel, the first optical channel is configured to penetrate through a first end and a second end of the installing base; and the second optical channel is configured to penetrate through the first end and the second end, wherein the detection beam is configured to pass through the first optical channel, the echo beam is configured to pass through the second optical channel, and the first end is configured to fixedly connect to the substrate;   an emission lens barrel connected to the second end;   a receiving lens barrel connected to the second end; and   a scanner configured to adjust a first direction of the detection beam and a second direction of the echo beam.   
     
     
         15 . The LiDAR of  claim 14 , further comprising:
 a first installing bracket;   a partial reflective mirror; and   a first reflective mirror,   wherein the first installing bracket, connected the second end, comprises a first hollow channel, and the partial reflective mirror is connected to the first end of the first installing bracket.   
     
     
         16 . The LiDAR of  claim 15 , wherein the first reflective mirror is connected to a second side of the first installing bracket. 
     
     
         17 . The LiDAR of  claim 15 , further comprising a second installing bracket,
 wherein the second installing bracket, connected the second end, comprises a second hollow channel, and the first reflective mirror is connected to a third side of the second installing bracket.   
     
     
         18 . The LiDAR of  claim 14 , further comprising a second reflective mirror,
 wherein the installing base further comprises a third end, and the first optical channel is further configured to penetrate through the third end, the second optical channel is further configured to penetrate through the third end; and   wherein the second reflective mirror, connected to the third end, is configured to adjust the first direction of the detection beam to deflect the detection beam, and adjust the second direction of the echo beam to deflect the echo beam to the receiver.   
     
     
         19 . The LiDAR of  claim 18 , wherein an angle is provided between a plane where the third end is located and a plane where the first end is located. 
     
     
         20 . The LiDAR of  claim 14 , further comprising an emission lens,
 wherein the emission lens is configured to collimate the detection beam, and the emission lens barrel configured to fix the emission lens is axisymmetric and comprises a first protrusion structure on an outer circumference of the emission lens barrel.   
     
     
         21 . The LiDAR of  claim 20 , wherein the first protrusion structure is arranged in a middle area of the outer circumference of the emission lens barrel. 
     
     
         22 . The LiDAR of  claim 20 , wherein the installing base further comprises a first groove provided circumferentially on an inner wall of the first optical channel, and the first groove is configured to cooperate with the first protrusion structure to position the emission lens barrel inside the first optical channel. 
     
     
         23 . The LiDAR of  claim 14 , further comprising a receiving lens,
 wherein the receiving lens is configured to shape the echo beam; and the receiving lens barrel configured to fix the receiving lens is axisymmetric and comprises a second protrusion structure on an outer circumference of the receiving lens barrel.   
     
     
         24 . The LiDAR of  claim 23 , wherein the second protrusion structure is arranged in a middle area of the outer circumference of the receiving lens barrel. 
     
     
         25 . The LiDAR of  claim 23 , wherein the installing base further comprises a second groove provided circumferentially on an inner wall of the second optical channel, and the second groove is configured to cooperate with the second protrusion structure to position the receiving lens barrel inside the second optical channel. 
     
     
         26 . The LiDAR of  claim 14 , further comprising at least one of a first gap or a second gap,
 wherein the first gap is provided between the emission lens barrel and a side wall of the first optical channel, and the second gap is provided between the receiving lens barrel and a side wall of the second optical channel.   
     
     
         27 . The LiDAR of  claim 14 , wherein a size of the substrate along an extension direction of the surface is larger than a cross-sectional size of the first end. 
     
     
         28 . The LiDAR of  claim 14 , wherein the substrate comprises a printed circuit board. 
     
     
         29 . An alignment method for a LiDAR, wherein the LiDAR comprises:
 a substrate comprising an emitter and a receiver, the emitter being arranged on a surface of the substrate and configured to emit a detection beam, and the receiver being arranged on the surface of the substrate and configured to receive an echo beam reflected by an object;   an installing base comprising a first optical channel and a second optical channel, the first optical channel being isolated from the second optical channel;   an emission lens barrel, a first gap being provided between the emission lens barrel and a side wall of the first optical channel;   a receiving lens barrel; and   a scanner,   the alignment method comprising:   adjusting a position of the emission lens barrel relative to the first optical channel to direct the echo beam to a predetermined position of the receiver.   
     
     
         30 . An adjustment method for a LiDAR, wherein the LiDAR comprises:
 a substrate comprising an emitter and a receiver, the emitter being arranged on a surface of the substrate and configured to emit a detection beam, and the receiver being arranged on the surface of the substrate and configured to receive an echo beam reflected by an object;   an installing base comprising a first optical channel and a second optical channel, the first optical channel being isolated from the second optical channel;   an emission lens barrel;   a receiving lens barrel. a second gap being provided between the receiving lens barrel and a side wall of the second optical channel; and   a scanner;   the alignment method comprising:   adjusting a position of the receiving lens barrel relative to the second optical channel to direct the echo beam to a predetermined position of the receiver.   
     
     
         31 . An adjustment method for a LiDAR, wherein the LiDAR comprises:
 a substrate comprising an emitter and a receiver, the emitter being arranged on a surface of the substrate and configured to emit a detection beam, and the receiver being arranged on the surface of the substrate and configured to receive an echo beam reflected by an object;   an installing base comprising a first optical channel and a second optical channel, the first optical channel being isolated from the second optical channel;   an emission lens barrel;   a receiving lens barrel;   a scanner;   a first reflective mirror;   a partial reflective mirror;   a first installing bracket; and   a second installing bracket,   the adjustment method comprising at least one of following:   adjusting a first position of the first installing bracket relative to the installing base;   adjusting a second position of the second installing bracket relative to the installing base;   adjusting a third position of the partial reflective mirror relative to the first installing bracket; or   adjusting a fourth position of the first reflective mirror relative to the second installing bracket.